Tractor edge-of-field management control system, method, device, equipment and medium

Abstract

The invention relates to an edge-of-field management control system, method, device and equipment for a tractor and a medium, and belongs to the technical field of tractor control. The system comprises a function key module, a force sensor, an angle sensor, a front wheel steering angle sensor, a control module and an execution mechanism which are arranged on the tractor; the control module is used for acquiring vehicle parameter information of the tractor and a target function signal sent by the function key module; based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, a control strategy is generated, and the control strategy is sent to an execution mechanism; the executing mechanism is used for dynamically adjusting the height of a lifter of the tractor and the rotating speed of an engine through a control strategy, so that the power output of the tractor is matched with the operation load. Intelligent control over the tractor in the field edge area is achieved, and the adaptability and working efficiency of the tractor in different working environments are improved.

Description

Technical Field

[0001] The present invention relates to the field of tractor control technology, and in particular to a tractor headland management control system, method, device, equipment and medium. Background Art

[0002] In the current agricultural production environment in China, tractors, as the main mechanized tools, undertake multiple tasks such as tilling, sowing, harvesting, and transportation. However, in the actual operation of the tractor, especially in the field turning or transportation link, the operator needs to manually adjust the engine speed to adapt to different operation requirements and working conditions. This traditional operation method is not only cumbersome, but also places high demands on the operator's operating skills and attention allocation.

[0003] Specifically, when driving a tractor, the operator often needs to pay attention to the tractor's driving status, operating load, and changes in the surrounding environment at the same time to ensure the safety and efficiency of the operation. However, in the process of manually adjusting the engine speed, the operator needs to shift part of his attention from observing the driving status and the surrounding environment to the operation of adjusting the engine speed, which undoubtedly increases the safety hazards during the operation. For example, while adjusting the engine speed, the operator also needs to adjust the position of the lift and the speed of the vehicle. This multi-tasking operation is very likely to cause distraction, thereby increasing the risk of accidents such as collisions and rollovers.

[0004] In addition, each operator has different requirements for engine speed when driving a tractor, which is not only reflected in different driving habits, but also in different working conditions and work requirements. Therefore, the traditional manual adjustment method often fails to meet the operator's personalized operating needs, and cannot ensure that the tractor's power output and work load are always optimally matched, thus affecting work efficiency and work quality. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a tractor headland management control system, method, device, equipment and medium, aiming to solve at least one of the above technical problems.

[0006] The technical solution of the present invention to solve the above technical problems is as follows:

[0007] In a first aspect, the present application provides a tractor headland management and control system, which adopts the following technical solutions:

[0008] A tractor headland management control system comprises a function key module, a force sensor, an angle sensor, a front wheel steering angle sensor, a control module and an actuator arranged on the tractor, wherein the function key module, the force sensor, the angle sensor, the front wheel steering angle sensor and the actuator are all connected to the control module;

[0009] The control module is used to obtain the vehicle parameter information of the tractor and the target function signal sent by the function button module, and generate a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, and send the control strategy to the actuator, the control strategy including a first control strategy for controlling the lifter of the tractor and a second control strategy for controlling the engine of the tractor, the vehicle parameter information including the operating load, the current height of the lifter and the front wheel steering angle, and the target function signal is a turning assist function on signal or a turning assist function off signal;

[0010] The actuator is used to dynamically adjust the current height of the tractor's lift to a target height based on the first control strategy; and dynamically adjust the current speed of the tractor's engine to a target speed based on the second control strategy so that the power output of the tractor matches the workload.

[0011] The beneficial effects of the present invention are as follows: by acquiring the vehicle parameter information of the tractor and the target function signal sent by the function key module in real time, the control module can quickly generate and execute the corresponding control strategy. It ensures that the tractor can dynamically adjust its state according to actual needs during operation, thereby improving the operation efficiency. The system can dynamically adjust the engine speed based on the operating load so that the power output of the tractor matches the operating load. This can not only avoid energy waste caused by excess power, but also ensure that sufficient power is provided when needed, thereby optimizing the energy consumption and performance of the whole machine. Through the function key module, the user can easily input the target function signal, such as setting the height of the lifter or the speed of the engine. This makes the operation more intuitive and convenient, and reduces the difficulty and complexity of the operation.

[0012] Based on the above technical solution, the present invention can also be improved as follows.

[0013] Further, the function button module is used to send a target function signal for the tractor steering operation to the control module, wherein the target function signal includes a turning assist function on signal or a turning assist function off signal;

[0014] The force sensor is used to detect the working load of the tractor and send the working load to the control module;

[0015] The angle sensor is used to detect the current height of the lifter of the tractor and send the current height of the lifter to the control module;

[0016] The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor and send the front wheel steering angle to the control module.

[0017] The beneficial effect of adopting the above further solution is that the function button module is explicitly used to send target function signals for the tractor steering operation to the control module. These signals specifically include a turning assist function on signal and a turning assist function off signal. This allows the user to easily turn on or off the turning assist function as needed, thereby more flexibly controlling the tractor's steering operation.

[0018] The force sensor is used to detect the tractor's operating load and send this information to the control module. By monitoring the operating load in real time, the control module can more accurately determine the tractor's working status and generate a more appropriate control strategy accordingly. The angle sensor is used to detect the current height of the tractor's lifter and send this information to the control module. This allows the control module to understand the status of the lifter in real time, so that it can control its height more accurately to meet different operating requirements. By monitoring the front wheel steering angle in real time, the control module can determine whether the tractor is turning and adjust the control strategy accordingly to ensure smooth and safe turning.

[0019] Further, the first control strategy is a third control strategy for determining a first set time for lifting the lifter based on the operating load of the tractor, and controlling the lifter to lift for the first set time so that the current height of the lifter is a first target height, or a fourth control strategy for determining a second set time for lowering the lifter based on the operating load of the tractor, and controlling the lifter to lower for the second set time so that the current height of the lifter is a second target height, and the first target height is greater than the second target height; the second control strategy is a fifth control strategy for controlling the engine speed to be adjusted to a preset first target speed threshold, or a sixth control strategy for controlling the engine speed to be adjusted to a preset second target speed threshold, and the second target speed threshold is greater than the first target speed threshold; the target height is the first target height or the second target height, and the target speed is the first target speed threshold or the second target speed threshold;

[0020] The control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process includes:

[0021] When the target function signal is a turning assist function on signal, judging whether the tractor has reached a headland area based on a front wheel steering angle of the tractor, the headland area representing an area where the tractor needs to turn or adjust direction during operation;

[0022] If the tractor reaches the headland area, determining whether the state of the lifter is unlocked;

[0023] If the state of the lifter is unlocked, based on the current height of the lifter, it is determined whether the working mode of the lifter is an operating mode, the working mode of the lifter is an operating mode or a transport mode, the operating mode represents a mode in which the lifter is in an operating state, and the transport mode represents a mode in which the lifter is in a stowed state;

[0024] If the working mode of the lifter is the operation mode, generating the third control strategy;

[0025] When the current height of the lifter of the tractor is the first target height, or when the lifter of the tractor is lifted for a set time, a fifth control strategy is generated.

[0026] The beneficial effect of adopting the above further scheme is: when the tractor needs to turn (i.e., receiving the signal to turn on the turning assist function), the system first determines whether the tractor has reached the field area, ensuring that the action of the lifter is performed at the right time, avoiding unnecessary operations. Next, the system will also check whether the state of the lifter is unlocked and whether it is in the operating mode. It ensures that the lifter is in the correct state before the action, avoiding operational failures or safety hazards caused by inconsistent states, and then generates a third control strategy. According to the current height or lifting time of the lifter, the system timely generates the fifth control strategy for adjusting the engine speed, ensuring that the power output of the engine matches the actual operating needs of the tractor, avoiding waste caused by excess power, and ensuring that the operating efficiency is reduced due to insufficient power.

[0027] Furthermore, the control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process includes:

[0028] When the target function signal is a turning assist function off signal, determining whether the state of the lifter is an unlocked state;

[0029] If the state of the lifter is unlocked, determining whether the working mode of the lifter is a motion mode based on the current height of the lifter;

[0030] If the working mode of the lifter is the motion mode, generating a fourth control strategy;

[0031] When the current height of the lifter of the tractor is the second target height, or when the lifter of the tractor is lowered for a set time, a sixth control strategy is generated.

[0032] The beneficial effect of adopting the above further scheme is that when receiving the turning assist function shutdown signal, the system first determines whether the state of the lift is unlocked. It ensures that the lift is in an operable state before turning off the auxiliary function, avoiding operational failure or safety hazards caused by the locking of the lift. Then, the system determines whether its working mode is the motion mode according to the current height of the lift, ensuring that the lift can operate as expected after turning off the auxiliary function. After confirming that the lift is in the motion mode, the system generates a fourth control strategy, that is, controlling the set time for the lift to descend. After the lift reaches the second target height or descends for a set time, the system generates a sixth control strategy to adjust the engine speed to the preset second target speed threshold. It ensures that the power output of the engine matches the actual operating needs of the tractor, avoiding waste caused by excess power and ensuring a decrease in operating efficiency caused by insufficient power.

[0033] Furthermore, the system further comprises a state module, wherein the state module is used for:

[0034] When the target function signal is a turn assist function on signal, updating the state of the tractor to a turn assist function on state;

[0035] When the target function signal is a turning assist function off signal, the state of the tractor is updated to a turning assist function off state.

[0036] The beneficial effect of adopting the above further solution is that the tractor status is effectively managed and updated in time. Specifically, when the target function signal is a turn assist function on signal, the status module can update the tractor status to a turn assist function on state; and when the target function signal is a turn assist function off signal, the status module can update the tractor status to a turn assist function off state, thereby ensuring the accuracy and reliability of the system.

[0037] Furthermore, the control module includes an HCU electronic control unit and an ECU electronic control unit, the HCU electronic control unit is communicatively connected to the ECU electronic control unit, the function button module, the force sensor, the angle sensor and the front wheel steering angle sensor are all electrically connected to the HCU electronic control unit, and the actuator is communicatively connected to the ECU electronic control unit.

[0038] The beneficial effect of adopting the above further scheme is

[0039] Acquire vehicle parameter information of the tractor and a target function signal sent through the function key module, wherein the vehicle parameter information includes the operating load, the current height of the lifter and the front wheel steering angle, and the target function signal is a turning assist function on signal or a turning assist function off signal;

[0040] generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy comprising a first control strategy for controlling a lifter of the tractor and a second control strategy for controlling an engine of the tractor;

[0041] The control strategy is sent to the actuator corresponding to the tractor, and the actuator adjusts the current height of the lifter to the target height based on the first control strategy, and adjusts the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

[0042] In a third aspect, the present application provides a tractor headland management and control device, which adopts the following technical solution:

[0043] A headland management control device for a tractor, comprising:

[0044] an acquisition module, used for acquiring vehicle parameter information of the tractor and a target function signal sent through the function key module, wherein the vehicle parameter information includes a work load, a current height of the lifter and a front wheel steering angle, and the target function signal is a turn assist function on signal or a turn assist function off signal;

[0045] a generating module, for generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy comprising a first control strategy for controlling a hoist of the tractor and a second control strategy for controlling an engine of the tractor;

[0046] A sending module is used to send the control strategy to an actuator corresponding to the tractor, and the actuator adjusts the current height of the lifter to the target height based on the first control strategy, and adjusts the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

[0047] In a fourth aspect, the present application provides an electronic device, which adopts the following technical solution:

[0048] An electronic device comprises a memory and a processor, wherein the memory stores a computer program which can be loaded by the processor and executes the tractor headland management control method described in the second aspect.

[0049] In a fifth aspect, the present application provides a computer-readable storage medium, which adopts the following technical solution:

[0050] A computer-readable storage medium stores a computer program that can be loaded by a processor and execute the tractor headland management control method according to the first aspect.

[0051] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of the structure of a tractor headland management control system provided by one embodiment of the present invention;

[0053] Figure 2 A schematic flow chart of a method for managing and controlling a tractor's headland provided by an embodiment of the present invention;

[0054] Figure 3 A module block diagram of a tractor headland management control device provided by one embodiment of the present invention;

[0055] Figure 4 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] In addition, the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article, unless otherwise specified, generally means that the associated objects before and after are in an "or" relationship.

[0058] The present application embodiment provides a tractor headland management control system, such as Figure 1 As shown, the system includes a function button module, a force sensor, an angle sensor, a front wheel steering angle sensor, a control module and an actuator arranged on the tractor, wherein the function button module, the force sensor, the angle sensor, the front wheel steering angle sensor and the actuator are all connected to the control module;

[0059] The control module is used for the control module to obtain vehicle parameter information of the tractor and the target function signal sent by the function button module, and, based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, generate a control strategy, and send the control strategy to the actuator, the control strategy includes a first control strategy for controlling the lifter of the tractor and a second control strategy for controlling the engine of the tractor, the vehicle parameter information includes an operating load, a current height of the lifter and a front wheel steering angle, and the target function signal is a turn assist function on signal or a turn assist function off signal;

[0060] The actuator is used to dynamically adjust the current height of the tractor's lift to a target height based on the first control strategy; and dynamically adjust the current speed of the tractor's engine to a target speed based on the second control strategy so that the power output of the tractor matches the workload.

[0061] By acquiring the vehicle parameter information of the tractor and the target function signal sent by the function key module in real time, the control module can quickly generate and execute the corresponding control strategy. It ensures that the tractor can dynamically adjust its state according to actual needs during operation, thereby improving the operation efficiency. The system can dynamically adjust the engine speed based on the operating load to match the tractor's power output with the operating load. This not only avoids energy waste caused by excess power, but also ensures that sufficient power is provided when needed, thereby optimizing the energy consumption and performance of the whole machine. Through the function key module, users can easily input target function signals, such as setting the height of the lifter or the speed of the engine. This makes the operation more intuitive and convenient, and reduces the difficulty and complexity of operation.

[0062] Optionally, the function button module is used to send a target function signal for the tractor steering operation to the control module, wherein the target function signal includes a turning assist function on signal or a turning assist function off signal;

[0063] The force sensor is used to detect the working load of the tractor and send the working load to the control module;

[0064] The angle sensor is used to detect the current height of the lifter of the tractor and send the current height of the lifter to the control module;

[0065] The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor and send the front wheel steering angle to the control module.

[0066] In one embodiment, the force sensor can be a resistive strain sensor or a piezoelectric force sensor. These sensors convert mechanical force into an electrical signal for measurement through an elastic element. The resistive strain sensor has the advantages of high sensitivity, good accuracy, and strong stability; the piezoelectric force sensor is small in size, easy to install and maintain, and can adapt to different operating requirements.

[0067] Angle sensors can be photoelectric angle sensors or photoelectric encoders. Photoelectric angle sensors work based on the photoelectric principle and have the characteristics of fast response speed and high sensitivity; photoelectric encoders measure angles through the encoder's grating stripes, and have the advantages of high accuracy and strong reliability. Photoelectric angle sensors use optical fiber technology, which makes it easier to achieve non-contact detection and is suitable for occasions to prevent mechanical wear; photoelectric encoders are more suitable for accurately measuring angle changes.

[0068] The front wheel steering angle sensor can be a potentiometer sensor or a magnetic induction sensor. The potentiometer sensor measures the angle change by adjusting the resistance value, and has the advantages of simple structure and low cost; the magnetic induction sensor measures the angle by using the change of magnetic field, and has the advantages of non-contact measurement and long life.

[0069] The control module includes an HCU electronic control unit and an ECU electronic control unit, the HCU electronic control unit is connected to the ECU electronic control unit, the function key module, the force sensor, the angle sensor and the front wheel steering angle sensor are all connected to the HCU electronic control unit, and the actuator is connected to the ECU electronic control unit. This module can select a high-performance microprocessor or an embedded computing platform as the core to achieve fast data processing and efficient control logic implementation. In specific configuration, a high-performance processing platform such as an ARM microprocessor or an FPGA logic gate array can be selected.

[0070] The actuator specifically includes a lifter drive device and an engine controller. The lifter drive device can be selected to adopt a hydraulic system or an electric system.

[0071] In one embodiment, the first control strategy is a third control strategy that determines a first set time for lifting the lifter based on the operating load of the tractor, and controls the lifter to lift for the first set time so that the current height of the lifter is a first target height, or a fourth control strategy that determines a second set time for descending the lifter based on the operating load of the tractor, and controls the lifter to descend for the second set time so that the current height of the lifter is a second target height, and the first target height is greater than the second target height; the second control strategy is a fifth control strategy that controls the engine speed to be adjusted to a preset first target speed threshold, or a sixth control strategy that controls the engine speed to be adjusted to a preset second target speed threshold, and the second target speed threshold is greater than the first target speed threshold; the target height is the first target height or the second target height, and the target speed is the first target speed threshold or the second target speed threshold.

[0072] Specifically, the control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process includes (step S101 to step S105:

[0073] Step S101, when the target function signal is a turning assist function on signal, judging whether the tractor has reached a headland area based on the operating load of the tractor, the headland area representing an area where the tractor needs to turn or adjust the direction during operation;

[0074] Step S102, if the tractor reaches the field head area, determine whether the state of the lifter is unlocked;

[0075] Step S103, if the state of the lifter is unlocked, based on the current height of the lifter, determine whether the working mode of the lifter is an operation mode, the working mode of the lifter is an operation mode or a transport mode, the operation mode represents a mode in which the lifter is in an operation state, and the transport mode represents a mode in which the lifter is in a stowed state;

[0076] Step S104, if the working mode of the lifter is the operation mode, generating the third control strategy;

[0077] Step S105, when the current height of the lifter of the tractor is the first target height, or when the lifter of the tractor is lifted for a set time, a fifth control strategy is generated.

[0078] In the above embodiment, after the tractor is started and connected to the power supply, the control module performs system initialization, including reading the preset control rules and vehicle parameter information. The staff turns on the turning assist function through the key module, and the control module responds to the staff's turning assist function turn-on trigger action for the turning operation and obtains the turning assist function turn-on signal. Afterwards, the control module determines whether the tractor has reached the end of the field by monitoring the tractor's operating load; monitors the state of the lifter in real time through the sensor or state monitoring module, which state is the lifter unlocked state or the lifter locked state; and determines the current working mode of the lifter according to the current height of the lifter and the preset working mode information.

[0079] If the tractor reaches the field head area, and the lifter is in the unlocked state and the working mode is the operation mode, the control module generates a third control strategy, that is, controlling the lifter to lift the set time. In one of the following two situations, the control module generates a fifth control strategy: the current height of the tractor's lifter reaches the first target height, and the tractor's lifter has been lifted for the set time. This ensures that the engine's power output matches the actual operating requirements of the tractor, avoiding waste caused by excess power and reducing operating efficiency caused by insufficient power.

[0080] Furthermore, the control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process also includes (steps S107 to S110):

[0081] Step S107, when the target function signal is a turning assist function off signal, determining whether the state of the lifter is an unlocked state;

[0082] Step S108, if the state of the lifter is unlocked, judging whether the working mode of the lifter is the motion mode based on the current height of the lifter;

[0083] Step S109, if the working mode of the lifter is the motion mode, generating a fourth control strategy;

[0084] Step S110, when the current height of the lifter of the tractor is the second target height, or when the lifter of the tractor is lowered for a set time, a fifth control strategy is generated.

[0085] In the above embodiment, when receiving the signal to turn off the turning assist function, the system first determines whether the state of the lift is unlocked. It ensures that the lift is in an operable state before turning off the auxiliary function, avoiding operational failure or safety hazards caused by the locking of the lift. Then, the system determines whether its working mode is the motion mode based on the current height of the lift, ensuring that the lift can operate as expected after turning off the auxiliary function. After confirming that the lift is in the motion mode, the system generates a fourth control strategy, that is, controlling the set time for the lift to descend. After the lift reaches the second target height or descends for a set time, the system generates a sixth control strategy to adjust the engine speed to the preset second target speed threshold. It ensures that the power output of the engine matches the actual operating needs of the tractor, avoiding waste caused by excess power and ensuring a decrease in operating efficiency caused by insufficient power.

[0086] Optionally, the system further includes a state module, wherein the state module is used to:

[0087] When the target function signal is a turn assist function on signal, updating the state of the tractor to a turn assist function on state;

[0088] When the target function signal is a turning assist function off signal, the state of the tractor is updated to a turning assist function off state.

[0089] A display module may also be included, and the display module is specifically used to display the indicator light color as a first color when the turning assist function is not turned on, and to display the indicator light color as a second color when the turning assist function is turned on.

[0090] Through the cooperation of the status module and the display module, the system can display the status of the tractor's turning assist function in real time, allowing users to clearly understand the current system status and make correct operating decisions. The color change of the indicator light provides users with intuitive visual feedback, allowing users to more easily understand the status changes of the system, thereby improving the user experience.

[0091] Compared with the prior art, the solution of the present invention has the following beneficial effects:

[0092] The present invention realizes automatic adjustment of the tractor during the turning process at the head of the field, reduces the operator's operating burden and improves operating efficiency. Specifically, the electronically controlled lift system is linked with the engine management system to automatically adjust the engine speed according to the operating requirements, ensuring that the power output of the tractor always matches the operating load, greatly reducing the safety hazards caused by manual operation. In addition, through the precise detection of the sensor, it can respond quickly in different working environments and realize dynamic adjustment, thereby improving the safety and stability of the entire operation process. This design not only simplifies the operating process, but also improves the intelligent management level and operating experience of the tractor during the operation process.

[0093] Based on Figure 1 Based on the same principle as the system shown in , the embodiment of the present invention also provides a tractor headland management control method, see Figure 2 The tractor headland management and control method comprises:

[0094] Step S1, obtaining vehicle parameter information of the tractor and a target function signal sent through a function key module, wherein the vehicle parameter information includes a work load, a current height of the lifter, and a front wheel steering angle, and the target function signal is a turn assist function on signal or a turn assist function off signal;

[0095] Step S2, generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy including a first control strategy for controlling the lifter of the tractor and a second control strategy for controlling the engine of the tractor;

[0096] Step S3, sending the control strategy to the actuator corresponding to the tractor, adjusting the current height of the lifter to the target height based on the first control strategy through the actuator, and adjusting the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

[0097] It should be noted that the executor of the method may be a control module, and its implementation principle is the same as that of the tractor's field management control system described above, which will not be repeated here.

[0098] Based on Figure 1 Based on the same principle as the system shown in FIG. 1 , the embodiment of the present invention further provides a tractor headland management control device 200, such as Figure 3 As shown in the figure, the headland management control device 200 of the tractor mainly includes:

[0099] An acquisition module 201 is used to acquire vehicle parameter information of the tractor and a target function signal sent by the function button module, wherein the vehicle parameter information includes a work load, a current height of the lifter and a front wheel steering angle, and the target function signal is a turn assist function on signal or a turn assist function off signal;

[0100] A generating module 202, for generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy comprising a first control strategy for controlling the lifter of the tractor and a second control strategy for controlling the engine of the tractor;

[0101] The sending module 203 is used to send the control strategy to the actuator corresponding to the tractor, and adjust the current height of the lifter to the target height based on the first control strategy through the actuator, and adjust the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

[0102] The tractor's field headland management and control device 200 of the embodiment of the present invention can execute the tractor's field headland management and control method provided by the embodiment of the present invention, and the implementation principle is similar. The actions performed by each module and unit in the tractor's field headland management and control device 200 in each embodiment of the present invention correspond to the steps in the tractor's field headland management and control method in each embodiment of the present invention. For the detailed functional description of each module of the tractor's field headland management and control device 200, please refer to the description of the corresponding tractor's field headland management and control method shown in the previous text, which will not be repeated here.

[0103] In one example, the module in any of the above devices may be one or more integrated circuits configured to implement the above method, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors.

[0104] (digital signal processor, DSP), or, one or more field programmable gate arrays (field programmable gate array, FPGA), or a combination of at least two of these integrated circuit forms.

[0105] For another example, when the modules in the device can be implemented in the form of a processing element scheduling program, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call a program. For another example, these modules can be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0106] Various objects such as various messages / information / equipment / network elements / systems / devices / actions / operations / processes / concepts that may appear in this application are named. It can be understood that these specific names do not constitute a limitation on the relevant objects. The names assigned may change with factors such as scenarios, contexts or usage habits. The understanding of the technical meaning of the technical terms in this application should be mainly determined from the functions and technical effects embodied / executed in the technical scheme.

[0107] Figure 4 This is a structural block diagram of an electronic device 300 according to an embodiment of the present application.

[0108] like Figure 4 As shown, the electronic device 300 includes a processor 301 and a memory 302 , and may further include one or more of an information input / information output (I / O) interface 303 and a communication component 304 .

[0109] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned tractor headland management control method; the memory 302 is used to store various types of data to support the operation of the electronic device 300, and these data may include, for example, instructions for any application or method operated on the electronic device 300, and data related to the application. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0110] The I / O interface 303 provides an interface between the processor 301 and other interface modules, and the above-mentioned other interface modules can be keyboards, mice, buttons, etc. These buttons can be virtual buttons or physical buttons. The communication component 304 is used to test the wired or wireless communication between the electronic device 300 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G or 4G, or a combination of one or more of them, so the corresponding communication component 304 can include: Wi-Fi components, Bluetooth components, NFC components.

[0111] The communication bus 305 may include a path to transmit information between the above components. The communication bus 305 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The communication bus 305 may be divided into an address bus, a data bus, a control bus, etc.

[0112] The electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the tractor headland management control method given in the above embodiment.

[0113] The computer-readable storage medium provided in the embodiment of the present application is introduced below. The computer-readable storage medium described below and the tractor headland management control method described above can be referenced to each other.

[0114] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned tractor headland management control method are implemented.

[0115] The computer-readable storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0116] The terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not expressly listed, or also includes elements inherent to such process, method, article, or apparatus.

[0117] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of application involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the aforementioned application concept. For example, the above features are replaced with (but not limited to) technical features with similar functions applied in the present application.

Claims

1. A tractor headland management and control system, characterized in that: It comprises a function key module, a force sensor, an angle sensor, a front wheel steering angle sensor, a control module and an actuator arranged on the tractor, wherein the function key module, the force sensor, the angle sensor, the front wheel steering angle sensor and the actuator are all connected to the control module; The control module is used to obtain the vehicle parameter information of the tractor and the target function signal sent by the function button module, and generate a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, and send the control strategy to the actuator, the control strategy including a first control strategy for controlling the lifter of the tractor and a second control strategy for controlling the engine of the tractor, the vehicle parameter information including the operating load, the current height of the lifter and the front wheel steering angle, and the target function signal is a turning assist function on signal or a turning assist function off signal; The actuator is used to dynamically adjust the current height of the tractor's lift to a target height based on the first control strategy; and dynamically adjust the current speed of the tractor's engine to a target speed based on the second control strategy so that the power output of the tractor matches the workload.

2. A tractor headland management and control system according to claim 1, characterized in that: The function button module is used to send a target function signal for the tractor steering operation to the control module, wherein the target function signal includes a turning assist function on signal or a turning assist function off signal; The force sensor is used to detect the working load of the tractor and send the working load to the control module; The angle sensor is used to detect the current height of the lifter of the tractor and send the current height of the lifter to the control module; The front wheel steering angle sensor is used to detect the front wheel steering angle of the tractor and send the front wheel steering angle to the control module.

3. A tractor headland management control system according to claim 2, characterized in that: The first control strategy is a third control strategy of determining a first set time for lifting the lifter based on the operating load of the tractor, and controlling the lifter to lift for the first set time so that the current height of the lifter is a first target height, or a fourth control strategy of determining a second set time for lowering the lifter based on the operating load of the tractor, and controlling the lifter to lower for the second set time so that the current height of the lifter is a second target height, and the first target height is greater than the second target height; the second control strategy is a fifth control strategy of controlling the engine speed to be adjusted to a preset first target speed threshold, or a sixth control strategy of controlling the engine speed to be adjusted to a preset second target speed threshold, and the second target speed threshold is greater than the first target speed threshold; The target altitude is a first target altitude or a second target altitude, and the target rotation speed is a first target rotation speed threshold or a second target rotation speed threshold; The control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process includes: When the target function signal is a turning assist function on signal, judging whether the tractor has reached a headland area based on a front wheel steering angle of the tractor, the headland area representing an area where the tractor needs to turn or adjust direction during operation; If the tractor reaches the headland area, determining whether the state of the lifter is unlocked; If the state of the lifter is unlocked, based on the current height of the lifter, it is determined whether the working mode of the lifter is an operating mode, the working mode of the lifter is an operating mode or a transport mode, the operating mode represents a mode in which the lifter is in an operating state, and the transport mode represents a mode in which the lifter is in a stowed state; If the working mode of the lifter is the operation mode, generating the third control strategy; When the current height of the lifter of the tractor is the first target height, or when the lifter of the tractor is lifted for a set time, a fifth control strategy is generated.

4. A tractor headland management control system according to claim 3, characterized in that: The control module generates a control strategy based on the vehicle parameter information of the tractor, the target function signal and the preset control rules, and the processing process includes: When the target function signal is a turning assist function off signal, determining whether the state of the lifter is an unlocked state; If the state of the lifter is unlocked, determining whether the working mode of the lifter is a motion mode based on the current height of the lifter; If the working mode of the lifter is the motion mode, generating a fourth control strategy; When the current height of the lifter of the tractor is the second target height, or when the lifter of the tractor is lowered for a set time, a sixth control strategy is generated.

5. A tractor headland management and control system according to claim 2, characterized in that: The system further comprises a state module, wherein the state module is configured to: When the target function signal is a turn assist function on signal, updating the state of the tractor to a turn assist function on state; When the target function signal is a turning assist function off signal, the state of the tractor is updated to a turning assist function off state.

6. A tractor headland management control system according to claim 2, characterized in that: The control module includes an HCU electronic control unit and an ECU electronic control unit, the HCU electronic control unit is communicatively connected to the ECU electronic control unit, the function button module, the force sensor, the angle sensor and the front wheel steering angle sensor are all electrically connected to the HCU electronic control unit, and the actuator is communicatively connected to the ECU electronic control unit.

7. A method for controlling the headland of a tractor, characterized in that: include: Acquire vehicle parameter information of the tractor and a target function signal sent through the function key module, wherein the vehicle parameter information includes the operating load, the current height of the lifter and the front wheel steering angle, and the target function signal is a turning assist function on signal or a turning assist function off signal; generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy comprising a first control strategy for controlling a lifter of the tractor and a second control strategy for controlling an engine of the tractor; The control strategy is sent to the actuator corresponding to the tractor, and the actuator adjusts the current height of the lifter to the target height based on the first control strategy, and adjusts the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

8. A tractor headland management control device, characterized in that: include: an acquisition module, used for acquiring vehicle parameter information of the tractor and a target function signal sent through the function key module, wherein the vehicle parameter information includes a work load, a current height of the lifter and a front wheel steering angle, and the target function signal is a turn assist function on signal or a turn assist function off signal; a generating module, for generating a control strategy based on the vehicle parameter information of the tractor, the target function signal and a preset control rule, the control strategy comprising a first control strategy for controlling a hoist of the tractor and a second control strategy for controlling an engine of the tractor; A sending module is used to send the control strategy to an actuator corresponding to the tractor, and the actuator adjusts the current height of the lifter to the target height based on the first control strategy, and adjusts the current speed of the engine to the target speed based on the second control strategy, so that the power output of the tractor matches the work load.

9. An electronic device, characterized in that: comprising a processor coupled to a memory; The processor is configured to execute the computer program stored in the memory, so that the electronic device executes the method according to claim 7.

10. A computer-readable storage medium, characterized in that: The method comprises a computer program or an instruction, which, when being executed on a computer, causes the computer to execute the method as claimed in claim 7.

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